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Doc No.
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T202001006
1.7.2 Resuming from the state of emergency
All emergency stop equipments in form of button have "Locking" function. The "Lock" must be
unlocked, as to end the emergency stop state of the equipments.
The "Lock" may be unlocked by rotating the emergency stop button.
Resuming from the emergency stop state is a simple and important step which can be operated
only when the danger of the robot system is eliminated completely.
1.7.3 Forced emergency movement of the joints
In rare cases, one or more robot joints may need to be moved under the emergency situations,
namely, the power supply of the robot is trapped in failure or the operating personnel does not want
to use the power supply. In this way, the robot joints are forced to move through the following
method:
Forced reverse drive: push or pull the robot arm hard (at least 700N), as to force the joints to
move.
Forced manual movement of the robot arm should be operated only in case of emergency,
however the joints may be damaged.
1.7.4 Over-strong-force safety protection of the robot arm
The robot arm has the over-strong-force safety protection function. When the robot arm is
powered on statically, and when the operating personnel or other objects bump against the robot arm
accidentally and the impact force exceeds a safety threshold, the robot arm may move along with a
direction of the impact force. The function may ensure that the damage to the personnel, other
objects and the robot arm is reduced when the operating personnel or other objects bump against the
